#!/bin/bash
echo "Setup unitree ros2 environment"
source /opt/ros/humble/setup.bash
# source /workspace/unitree_ros2/cyclonedds_ws/install/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

# export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
#                             <NetworkInterface name="enp108s0" priority="default" multicast="default" />
#                         </Interfaces></General></Domain></CycloneDDS>'

# must be a file
export CYCLONEDDS_URI=file:///$HOME/unitree/unitree_ros2/cyclonedds.xml